CN106444776A - Method for evaluating autonomous performance of unmanned boats - Google Patents
Method for evaluating autonomous performance of unmanned boats Download PDFInfo
- Publication number
- CN106444776A CN106444776A CN201610970183.9A CN201610970183A CN106444776A CN 106444776 A CN106444776 A CN 106444776A CN 201610970183 A CN201610970183 A CN 201610970183A CN 106444776 A CN106444776 A CN 106444776A
- Authority
- CN
- China
- Prior art keywords
- autonomous
- performance
- unmanned boat
- path
- starting point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000012360 testing method Methods 0.000 claims abstract description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 5
- 230000002265 prevention Effects 0.000 claims description 37
- 238000011156 evaluation Methods 0.000 claims description 32
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 14
- 239000003643 water by type Substances 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 238000003786 synthesis reaction Methods 0.000 claims description 3
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 238000011161 development Methods 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 238000012854 evaluation process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000000205 computational method Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005008 domestic process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention discloses a method for evaluating the autonomous performance of unmanned boats. The method includes steps of 1), preparing test tools; 2), selecting water areas; 3), evaluating the performance including the autonomous path planning performance, the autonomous path tracking performance and the autonomous collision avoiding performance; 4), respectively evaluating the autonomous path planning performance, the autonomous path tracking performance and the autonomous collision avoiding performance by the aid of dimensionless formulas. Autonomous path planning, autonomous path tracking and autonomous collision avoiding are repeatedly carried out by n times, and accordingly the ultimate autonomous path planning performance, the ultimate autonomous path tracking performance and the ultimate autonomous collision avoiding performance can be obtained according to the single autonomous path planning performance, the single autonomous path tracking performance and the single autonomous collision avoiding performance. The method has the advantages that lengths and time, track error sums and time and track lengths and time which are already converted into dimensionless parameters are proportionally combined with one another, accordingly, the autonomous performance of the unmanned boats can be comprehensively evaluated by the aid of weight distribution combinations, particular evaluation processes are proposed, and the method is concise, feasible, scientific and reasonable.
Description
Technical field
The invention belongs to unmanned surface vehicle autonomous performance research design technical field is and in particular to a kind of unmanned boat autonomy
Can appraisal procedure.
Background technology
Unmanned surface vehicle, as a kind of operatorless naval vessels, has that small volume, the speed of a ship or plane be fast, mobility strong, modularity etc.
Feature, can be used for executing task that is dangerous and being unsuitable for the execution of someone's ship, signs in These characteristics, in recent years, the water surface is unmanned
Ship more obtains people in military and civil area and payes attention to, and the especially autonomous path planning of autonomy-oriented level, autonomous path trace,
Autonomous collision prevention performance is the key factor determining its engineer applied, not yet proposes the autonomous Performance Evaluation side of unmanned boat due to domestic
Method, it is difficult to the autonomous performance such as autonomous path planning, autonomous path trace, autonomous collision prevention carries out assessment to unmanned boat, is unfavorable for no
, it is therefore necessary to autonomous performance estimating method conducts a research to unmanned boat, proposition can be for the improvement of the autonomous performance of people's ship and lifting
The enforcement of on lake or sea, simple to operate, guarantee convenience, scientific and reasonable experiment process and appraisal procedure, thus to not commensurate
The unmanned boat developed carries out autonomous Performance Evaluation, is fully understood by domestic unmanned boat autonomy-oriented level, at the same time as related unmanned
Evaluation measures in ship competitiveness research and development program element.
Content of the invention
The technical problem to be solved in the present invention is, for deficiencies of the prior art, provides a kind of unmanned boat certainly
Main performance estimating method, to fill up the blank of domestic unmanned surface vehicle autonomous performance evaluation measures shortage, can be at lake surface or sea
To unmanned boat, autonomous performance carries out test assessment, and evaluation process is relatively easy, and appraisal procedure is reasonable.
The present invention be employed technical scheme comprise that by solving above-mentioned technical problem：
A kind of autonomous performance estimating method of unmanned boat, comprises the steps：
(1) test instrument prepares：Test instrument at least includes GPS or the Big Dipper, inertial equipment and admission equipment and stopwatch,
In process of the test, different unmanned boat service precision identicals GPS or the Big Dipper (precision is better than 1m) and inertial equipment are Autonomous Control
System provides position and course information, and same admission equipment enrolls unmanned boat ship trajectory coordinate, same stopwatch record unmanned boat
The autonomous navigation time；
(2) waters selects：According to the autonomous performance of unmanned boat mainly by autonomous path planning performance, autonomous path trace
Energy, autonomous collision prevention performance synthesis determine, assess for different performance and select waters：Autonomous path planning Performance Evaluation is only in electronics
Carry out on sea chart, select complicated waters on electronic chart, that is, select unmanned boat path starting point and impact point line to wear as far as possible
More multi-disc land, multiple islands and reefs；Autonomous path trace Performance Evaluation and autonomous collision prevention Performance Evaluation are carried out in actual waters, select
Spacious waters, such as lake surface or sea (the no other barrier of the water surface), depending on water surface area is according to practical situation；
(3) Performance Evaluation：
1. autonomous path planning Performance Evaluation
Unmanned boat path starting point M and path impact point N, line segment are selected on electronic chartPass through different lands as far as possible
Ground and islands and reefs (starting point can be arranged in narrow bay, and impact point is arranged on the numerous region of islands and reefs),Directly
Linear distance S1At least 150nmile (domestic unmanned boat voyage is substantially in 300nmile at present)；Each unmanned boat rises according to given
The point coordinates and coordinate of ground point path between contexture by self is from starting point to impact point on electronic chart, forbids in planning process
Manual intervention, shows the path cooked up on electronic chart and extracts each node coordinate after the completion of autonomous path planning, theoretical
The autonomous path planning time is designated as t1, calculate each node path total length Δ S simultaneously1, and record general planning time Δ t1；
2. autonomous path trace Performance Evaluation
GPS or the Big Dipper are arranged in unmanned boat out of my cabin at same position, admission equipment is fixed in cabin, GPS or the Big Dipper with
Admission equipment connects, and enrolls latitude and longitude coordinates with 10Hz frequency, and unmanned boat is designated as t constantly from starting point21, when reaching impact point
Engrave as t22, distance (path total length) S between unmanned boat starting point and impact point2, highest speed in autonomous path tracking procedure
It is defined to V2, from starting point to the shortest time of impact point note t2=S2/V2；Record from starting point to impact point, autonomous path trace
Unmanned boat pursuit path coordinate in journey；After off-test, carry out data processing, reject the singular value in trajectory coordinates, count afterwards
Calculate difference μ of each actual tracking trajectory coordinates and each theory pursuit path coordinatek, k=1,2 ..., m, m are the track of actual admission
Point sum, and record general planning time Δ t2；
3. autonomous collision prevention Performance Evaluation
Setting unmanned boat starting point and impact point in spacious waters, its air line distance is S3(at least 3km), in starting point and mesh
Barrier is arranged in punctuate line center, and barrier is placed reflector；
GPS or the Big Dipper are arranged in unmanned boat out of my cabin at same position, admission equipment is fixed in cabin, GPS or the Big Dipper with
Admission equipment connects, and enrolls latitude and longitude coordinates with 10Hz frequency, and unmanned boat is designated as t constantly from starting point31, when reaching impact point
Engrave as t32, during navigation, highest speed is defined to V3, from starting point to the shortest time of impact point note t3=S3/V3, unmanned boat
During from starting point to impact point autonomous navigation, the obstacle distance that detected according to sensor, orientation, local plans road again
Footpath with autonomous avoiding obstacles, record from starting point to impact point during unmanned boat trajectory coordinates；After off-test, carry out data
Process, reject the singular value in trajectory coordinates, calculate tracing point total length Δ S afterwards3, and record general planning time Δ t3；
(4) appraisal procedure
Autonomous path planning performance Γ is assessed respectively using following dimensionless formularou_plan, autonomous path trace performance
Γrou_trac, autonomous collision prevention performance Γanti_coll：
Wherein, 0≤σ1,σ3,σ5≤, 0≤σ2,σ4,σ6≤ 1, σ1+σ2=1, σ3+σ4=1, σ5+σ6=1, Δ t2=t22-t21,
Δt3=t32-t31.
By such scheme, every unmanned boat repeats above-mentioned test n time, n >=8, that is, autonomous path planning, from main path with
Track, autonomous collision prevention are carried out n time respectively, single autonomous path planning performance, single autonomous path trace performance, the autonomous collision prevention of single
Performance is designated as respectivelyI=1,2 .., n, then final autonomous path planning performance, autonomous
Path trace performance, autonomous collision prevention performance calculating formula are as follows respectively：
Autonomous performance Γ of unmanned boat is mainly by autonomous path planning performance, autonomous path trace performance, autonomous collision prevention performance
Comprehensive decision, its computing formula is as follows：
Wherein, 0≤ω1,ω2,ω3≤ 1, ω1+ω2+ω3=1, ω1,ω2,ω3Depending on practical situation；
The autonomous performance of unmanned boat is assessed by the size comparing Γ, Γ value is less, the autonomous performance of unmanned boat is better.
By such scheme, in autonomous path planning Performance Evaluation, the parameter in formula (1) makees following selection σ1>=0.9, σ2
≤ 0.1, t1=10 (there is the time of abundance to carry out autonomous path planning work before setting out due to generally unmanned boat, and
The autonomous path planning time general all in 10s, and the path total length cooked up whether short be that everybody compares concern,
The main evaluation index of autonomous path planning performance, real-time typically can meet requirement, belong in Performance Evaluation secondary because
Element).
By such scheme, during autonomous path trace and autonomous collision prevention, time and precision (or actual path length)
Consider, respective weight selects according to practical situation, the parameter in formula (2) and formula (3) selects σ simultaneously3=0.5, σ4=0.5, σ5
=0.5, σ6=0.5.
By such scheme, in formula (7), select ω1=1/3, ω2=1/3, ω3=1/3.
By such scheme, waters length at least 5km, width at least 500m in described step (2).
By such scheme, in autonomous collision prevention Performance Evaluation, barrier adopts canoe to simulate, and canoe is placed reflector, little
Ship passes through to cast anchor or alternate manner is fixed on lakebed or seabed, and canoe length and reflector size, arrangement height are according to actual feelings
Condition fixed (canoe adopts about 3m length, 1m width).
By such scheme, in autonomous collision prevention Performance Evaluation, if unmanned boat track enter with barrier center as the center of circle, radius
For in the circle of R, then the autonomous collision prevention of unmanned boat fails, and wherein R meets：2R=1.5 obstacle length again.
The present invention compared with prior art has the advantages that：
1st, the present invention is by proposing path and the time that contexture by self goes out in limited distance using unmanned boat, limited
In the distance autonomous path trace trajectory error and and time, ship trajectory length and time in limited distance, and will have been converted into
The length of dimensionless group and time, trajectory error and with time, path length and time carry out ratio combine to assess unmanned
Ship autonomous path planning performance, autonomous path trace performance, the height of autonomous collision prevention performance or quality；
2nd, it is based on above-mentioned three kinds of performances, unmanned boat autonomous performance comprehensive assessment is carried out using weight distribution combination, simultaneously
Propose specific estimation flow, evaluation process safeguard is convenient, appraisal procedure is succinctly easy and scientific and reasonable, can be in lake surface
Or to unmanned boat, autonomous performance carries out test assessment at sea, achievement has filled up domestic and international unmanned surface vehicle autonomous performance evaluation measures
The blank lacking；
3rd, the present invention can be used for the especially autonomous collision prevention performance height of the autonomous performance height to dissimilar unmanned surface vehicle and opens
Exhibition test assessment, is the good and bad important means of checking unmanned boat automatic navigation control system design.
Brief description
Fig. 1 is embodiment of the present invention unmanned boat autonomous path planning Performance Evaluation schematic diagram；
Fig. 2 is embodiment of the present invention unmanned boat autonomous path trace Performance Evaluation schematic diagram；
Fig. 3 is embodiment of the present invention unmanned boat autonomous collision prevention Performance Evaluation schematic diagram.
Specific embodiment
Below according to specific embodiment and combine accompanying drawing, the present invention is further detailed explanation.
(1) autonomous path planning Performance Evaluation embodiment
As shown in figure 1, a certain complex region is selected on electronic chart, starting point M and impact point N, its air line distance are set
For S1, S1>=150nmile, its line passes through multi-disc land and islands and reefs.Each unmanned boat is according to given starting point coordinate and impact point
Path between contexture by self is from starting point to impact point on electronic chart for the coordinate, forbids manual intervention, independently in planning process
Each node coordinate such as A, B, C, D in the path cooked up need to being shown on sea chart and extract as Fig. 1 after the completion of path planning, simultaneously
Calculate each node path total length Δ S1, Δ S1=MA+AB+BC+CD+CN, and record general planning time Δ t1.
(2) autonomous path trace Performance Evaluation embodiment
As shown in Fig. 2 demarcating the path that unmanned boat need to be followed the tracks of on spacious lake surface or sea, path total length is S2
(depending on its length is according to practical situation, typically at least 5km).In process of the test, unmanned boat is located at starting point M, its autonomous path trace
Terminal is impact point N, and in autonomous path trace, highest speed is limited to V2(as 30kn), then from starting point to impact point the most in short-term
Between t2=S2/V2；Unmanned boat is from starting point moment t21Start timing, to impact point moment t22Timing terminates, and records unmanned boat
During from starting point to impact point, (all of unmanned boat is all using identical GPS or the Big Dipper, precision for autonomous path trace trajectory coordinates
Better than 1m), track dot frequency (typically can adopt 10Hz) according to depending on practical situation.After off-test, carry out data processing, pick
Except the singular value in trajectory coordinates, calculate each actual tracking path locus coordinate and difference μ needing track path trajectory coordinates afterwardsk
(k=1,2 ..., m, m are the tracing point sum of actual admission), and record general planning time Δ t2.
μkComputational methods following () taking Fig. 2 middle conductor MA as a example：
Straight line MA equation is calculated according to M point coordinates and A point coordinates, circular refers to related high school mathematicses class
This.Coordinate relation between longitude and latitude has been obtained, afterwards by actual tracking path locus coordinate after obtaining straight line MA equationIn λiOrSubstitute into straight line MA equation, just obtain theoretical latitude afterwardsOr longitude λk-true, thenOr μk=λk-λk-true.
(3) autonomous collision prevention Performance Evaluation embodiment
As shown in figure 3, demarcating starting point and impact point on spacious lake surface or sea, its air line distance is S3(its length
Depending on practical situation, typically at least 3km), barrier is arranged in the center position of starting point, impact point line, obstacle
Reflector is placed on thing.In process of the test, unmanned boat is located at starting point M, and its autonomous navigation terminal is impact point N, highest boat in navigation
Speed limit is made as V3(as 30kn), then the shortest time t from starting point to impact point3=S3/V3；Unmanned boat is from starting point moment t31
Start timing, to impact point moment t32Timing terminates, during unmanned boat is from starting point to impact point autonomous navigation, according to sensor
The obstacle distance that detected, orientation, will local again path planning with autonomous avoiding obstacles, record is from starting point to impact point
During unmanned boat trajectory coordinates (all using identical GPS or the Big Dipper, precision is better than 1m to all of unmanned boat), track dot frequency
(typically can adopt 10Hz according to depending on practical situation).After off-test, carry out data processing, reject unusual in trajectory coordinates
Value, calculates tracing point total length Δ S afterwards3, and record general planning time Δ t3.If unmanned boat track is entered in data handling procedure
Enter with barrier center as the center of circle, in radius circle of (2R=1.5 times of captain) as R, then unmanned boat autonomous collision prevention failure.
Assess autonomous path planning performance, autonomous path trace performance, autonomous using dimensionless formula (1)～(3) respectively
Collision prevention performance, in formula (1)～(3), is typically chosen σ1>=0.9, σ2≤ 0.1, t1=10, σ3=0.5, σ4=0.5, σ5=0.5, σ6
=0.5.
Every unmanned boat repeats above-mentioned test n time (n >=8), single autonomous path planning performance, the autonomous path trace of single
Performance, single autonomous collision prevention performance is designated as respectively(i=1,2 .., n), then final from
Main path planning performance, autonomous path trace performance, autonomous collision prevention performance calculating formula are respectively as shown in formula (4), (5), (6).
If i ＆ lt unmanned boat autonomous collision prevention failure,(ε=5～10), (j=1,
2,...,n,j≠i).
Autonomous performance Γ of unmanned boat is mainly by autonomous path planning performance, autonomous path trace performance, autonomous collision prevention performance
Comprehensive decision, shown in its computing formula such as formula (7).
The autonomous performance of unmanned boat is evaluated by the size comparing Γ, Γ value is less, and the autonomous performance of unmanned boat is higher.
In embodiment, barrier adopts canoe to simulate, canoe is placed reflector, little captain 3m about, wide 1m, little
Ship passes through to cast anchor or alternate manner is fixed on lakebed or seabed.
The present invention can to unmanned boat, autonomous path planning, autonomous path trace, autonomous collision prevention etc. be autonomous according to the actual requirements
Performance carries out assessment.
In sum, these are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.
All any modification, equivalent substitution and improvement within the spirit and principles in the present invention, made etc., should be included in the present invention's
Within protection domain.
Claims (8)
1. a kind of autonomous performance estimating method of unmanned boat is it is characterised in that comprise the steps：
(1) test instrument prepares：Test instrument at least includes GPS or the Big Dipper, inertial equipment and admission equipment and stopwatch, test
During different unmanned boat service precision identicals GPS or the Big Dipper and inertial equipment be that self-control system provides position and boat
To information, same admission equipment enrolls unmanned boat ship trajectory coordinate, same stopwatch record unmanned boat autonomous navigation time；
(2) waters selects：According to the autonomous performance of unmanned boat mainly by autonomous path planning performance, autonomous path trace performance, from
Main collision prevention performance synthesis determines, assesses for different performance and selects waters：Autonomous path planning Performance Evaluation is only in electronic chart
Upper development, selects complicated waters on electronic chart, that is, select unmanned boat path starting point and impact point line pass through as far as possible many
Piece land, multiple islands and reefs；Autonomous path trace Performance Evaluation and autonomous collision prevention Performance Evaluation are carried out in actual waters, select spacious
Waters, such as lake surface or sea, depending on water surface area is according to practical situation；
(3) Performance Evaluation：
1. autonomous path planning Performance Evaluation
Unmanned boat path starting point M and path impact point N, line segment are selected on electronic chartPass through as far as possible different land and
Islands and reefs,Air line distance S1At least 150nmile；Each unmanned boat is according to given starting point coordinate and coordinate of ground point in electron sea
Path between contexture by self is from starting point to impact point on figure, forbids manual intervention in planning process, and autonomous path planning completes
The path cooked up is shown afterwards on electronic chart and extracts each node coordinate, the theoretical autonomous path planning time is designated as t1, with
When calculate each node path total length Δ S1, and record general planning time Δ t1；
2. autonomous path trace Performance Evaluation
GPS or the Big Dipper are arranged in unmanned boat out of my cabin at same position, admission equipment is fixed in cabin, GPS or the Big Dipper and admission
Equipment connects, and enrolls latitude and longitude coordinates with 10Hz frequency, and unmanned boat is designated as t constantly from starting point21, engrave when reaching impact point
For t22, apart from S between unmanned boat starting point and impact point2, in autonomous path tracking procedure, highest speed is defined to V2, from starting point to
The shortest time note t of impact point2=S2/V2；From starting point to impact point, in autonomous path tracking procedure, unmanned boat follows the tracks of rail to record
Mark coordinate；After off-test, carry out data processing, reject the singular value in trajectory coordinates, calculate each actual tracking track afterwards
Coordinate and difference μ of each theory pursuit path coordinatek, k=1,2 ..., m, m are the tracing point sum of actual admission, and record total
Planning time Δ t2；
3. autonomous collision prevention Performance Evaluation
Setting unmanned boat starting point and impact point in spacious waters, its air line distance is S3, in starting point and impact point line center
Arrangement barrier, barrier is placed reflector；
GPS or the Big Dipper are arranged in unmanned boat out of my cabin at same position, admission equipment is fixed in cabin, GPS or the Big Dipper and admission
Equipment connects, and enrolls latitude and longitude coordinates with 10Hz frequency, and unmanned boat is designated as t constantly from starting point31, engrave when reaching impact point
For t32, during navigation, highest speed is defined to V3, from starting point to the shortest time of impact point note t3=S3/V3, unmanned boat from
Point to impact point autonomous navigation, the obstacle distance that detected according to sensor, orientation, local again path planning with
Autonomous avoiding obstacles, unmanned boat trajectory coordinates during recording from starting point to impact point；After off-test, carry out at data
Reason, rejects the singular value in trajectory coordinates, calculates tracing point total length Δ S afterwards3, and record general planning time Δ t3；
(4) appraisal procedure
Autonomous path planning performance Γ is assessed respectively using following dimensionless formularou_plan, autonomous path trace performance
Γrou_trac, autonomous collision prevention performance Γanti_coll：
Wherein, 0≤σ1,σ3,σ5≤ 1,0≤σ2,σ4,σ6≤ 1, σ1+σ2=1, σ3+σ4=1, σ5+σ6=1, Δ t2=t22-t21, Δ
t3=t32-t31.
2. the autonomous performance estimating method of unmanned boat according to claim 1 it is characterised in that every unmanned boat repeat above-mentioned
Test n time, n >=8, i.e. autonomous path planning, autonomous path trace, autonomous collision prevention is carried out n time respectively, the autonomous path planning of single
Performance, single autonomous path trace performance, single autonomous collision prevention performance are designated as respectivelyI=
1,2 .., n, then final autonomous path planning performance, autonomous path trace performance, autonomous collision prevention performance calculating formula be respectively such as
Under：
Autonomous performance Γ of unmanned boat is mainly by autonomous path planning performance, autonomous path trace performance, autonomous collision prevention performance synthesis
Determine, its computing formula is as follows：
Wherein, 0≤ω1,ω2,ω3≤ 1, ω1+ω2+ω3=1, ω1,ω2,ω3Depending on practical situation；
The autonomous performance of unmanned boat is assessed by the size comparing Γ, Γ value is less, the autonomous performance of unmanned boat is better.
3. the autonomous performance estimating method of unmanned boat according to claim 1 is it is characterised in that in autonomous path planning performance
In assessment, the parameter in formula (1) makees following selection σ1>=0.9, σ2≤ 0.1, t1=10.
4. the autonomous performance estimating method of unmanned boat according to claim 1 it is characterised in that autonomous path trace and from
During main collision prevention, time and precision consider simultaneously, and respective weight selects according to practical situation, the ginseng in formula (2) and formula (3)
Number selects σ3=0.5, σ4=0.5, σ5=0.5, σ6=0.5.
5. the autonomous performance estimating method of unmanned boat according to claim 2 is it is characterised in that in formula (7), select ω1=
1/3, ω2=1/3, ω3=1/3.
6. the autonomous performance estimating method of unmanned boat according to claim 1 is it is characterised in that waters in described step (2)
Length at least 5km, width at least 500m.
7. the autonomous performance estimating method of unmanned boat according to claim 1 is it is characterised in that autonomous collision prevention Performance Evaluation
In, barrier adopts canoe to simulate, and canoe is placed reflector, and canoe passes through to cast anchor or alternate manner is fixed on lakebed or sea
Bottom, canoe length and reflector size, arrangement height are fixed according to practical situation.
8. the autonomous performance estimating method of unmanned boat according to claim 1 is it is characterised in that autonomous collision prevention Performance Evaluation
In, if unmanned boat track enters with barrier center as the center of circle, in the circle as R for the radius, unmanned boat autonomous collision prevention failure, wherein
R meets：2R=1.5 obstacle length again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610970183.9A CN106444776B (en) | 2016-10-28 | 2016-10-28 | A kind of autonomous performance estimating method of unmanned boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610970183.9A CN106444776B (en) | 2016-10-28 | 2016-10-28 | A kind of autonomous performance estimating method of unmanned boat |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106444776A true CN106444776A (en) | 2017-02-22 |
| CN106444776B CN106444776B (en) | 2019-04-30 |
Family
ID=58180648
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610970183.9A Active CN106444776B (en) | 2016-10-28 | 2016-10-28 | A kind of autonomous performance estimating method of unmanned boat |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106444776B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107122897A (en) * | 2017-04-17 | 2017-09-01 | 武汉理工大学 | Unmanned boat airworthiness appraisal procedure based on deep learning algorithm |
| CN109828566A (en) * | 2019-01-30 | 2019-05-31 | 华南理工大学 | A kind of unmanned surface vehicle autonomous navigation method |
| CN109960148A (en) * | 2019-03-20 | 2019-07-02 | 中国科学院软件研究所 | A kind of the independence appraisal procedure and system of intelligent Unmanned Systems |
| CN110203325A (en) * | 2019-06-14 | 2019-09-06 | 上海外高桥造船有限公司 | The test method and system of the collision prevention function of ship autonomous navigation system |
| CN110517537A (en) * | 2019-07-29 | 2019-11-29 | 智慧航海（青岛）科技有限公司 | A kind of unmanned boat autonomous navigation system and method |
| CN111409788A (en) * | 2020-04-17 | 2020-07-14 | 大连海事大学 | Unmanned ship autonomous navigation capability testing method and system |
| CN111553559A (en) * | 2020-03-31 | 2020-08-18 | 中国人民解放军92942部队 | Method, device and system for testing comprehensive capacity of unmanned ship |
| CN111813128A (en) * | 2020-07-29 | 2020-10-23 | 浙江北鲲智能科技有限公司 | Unmanned ship autonomous navigation performance evaluation method |
| CN111813086A (en) * | 2020-07-15 | 2020-10-23 | 北京航空航天大学云南创新研究院 | Model-based unmanned system autonomy evaluation method |
| CN111846139A (en) * | 2020-07-29 | 2020-10-30 | 浙江北鲲智能科技有限公司 | Comprehensive quantitative assessment method for intelligent navigation performance of unmanned surface vehicle |
| CN112100917A (en) * | 2020-09-14 | 2020-12-18 | 中国船级社 | Intelligent ship collision avoidance simulation test system and method based on expert confrontation system |
| CN113625725A (en) * | 2021-09-02 | 2021-11-09 | 中国舰船研究设计中心 | Unmanned surface vehicle path tracking control method |
| CN113625720A (en) * | 2021-08-19 | 2021-11-09 | 中国舰船研究设计中心 | Unmanned ship autonomous navigation control algorithm simulation evaluation system |
| CN113776535A (en) * | 2021-08-31 | 2021-12-10 | 中国舰船研究设计中心 | Unmanned ship route planning method based on rasterized electronic chart |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130112507A (en) * | 2012-04-04 | 2013-10-14 | 인하대학교 산학협력단 | Safe path planning method of a mobile robot using s× algorithm |
| CN104714418A (en) * | 2015-04-01 | 2015-06-17 | 大连海事大学 | Semi-physical simulation system for testing control performance of unmanned surface vessel |
| CN105699095A (en) * | 2016-01-27 | 2016-06-22 | 常州加美科技有限公司 | A test method for a remotely piloted vehicle (PRV) |
| CN105867383A (en) * | 2016-05-16 | 2016-08-17 | 哈尔滨工程大学 | Automatic collision preventing control method of USV |
-
2016
- 2016-10-28 CN CN201610970183.9A patent/CN106444776B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130112507A (en) * | 2012-04-04 | 2013-10-14 | 인하대학교 산학협력단 | Safe path planning method of a mobile robot using s× algorithm |
| CN104714418A (en) * | 2015-04-01 | 2015-06-17 | 大连海事大学 | Semi-physical simulation system for testing control performance of unmanned surface vessel |
| CN105699095A (en) * | 2016-01-27 | 2016-06-22 | 常州加美科技有限公司 | A test method for a remotely piloted vehicle (PRV) |
| CN105867383A (en) * | 2016-05-16 | 2016-08-17 | 哈尔滨工程大学 | Automatic collision preventing control method of USV |
Non-Patent Citations (2)
| Title |
|---|
| 王勇鑫等: "基于轨迹分析的自主导航性能评估方法", 《计算机工程》 * |
| 马天宇等: "USV平台性能设计的层次分析模糊综合评估", 《江苏船舶》 * |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107122897A (en) * | 2017-04-17 | 2017-09-01 | 武汉理工大学 | Unmanned boat airworthiness appraisal procedure based on deep learning algorithm |
| CN107122897B (en) * | 2017-04-17 | 2021-05-25 | 武汉理工大学 | Unmanned ship airworthiness evaluation method based on deep learning algorithm |
| CN109828566A (en) * | 2019-01-30 | 2019-05-31 | 华南理工大学 | A kind of unmanned surface vehicle autonomous navigation method |
| CN109828566B (en) * | 2019-01-30 | 2022-05-24 | 华南理工大学 | Autonomous sailing method for unmanned surface vehicle |
| CN109960148A (en) * | 2019-03-20 | 2019-07-02 | 中国科学院软件研究所 | A kind of the independence appraisal procedure and system of intelligent Unmanned Systems |
| CN109960148B (en) * | 2019-03-20 | 2020-06-09 | 中国科学院软件研究所 | Autonomy evaluation method and system for intelligent unmanned system |
| CN110203325A (en) * | 2019-06-14 | 2019-09-06 | 上海外高桥造船有限公司 | The test method and system of the collision prevention function of ship autonomous navigation system |
| CN110517537A (en) * | 2019-07-29 | 2019-11-29 | 智慧航海（青岛）科技有限公司 | A kind of unmanned boat autonomous navigation system and method |
| CN111553559A (en) * | 2020-03-31 | 2020-08-18 | 中国人民解放军92942部队 | Method, device and system for testing comprehensive capacity of unmanned ship |
| CN111553559B (en) * | 2020-03-31 | 2024-02-02 | 中国人民解放军92942部队 | Unmanned ship comprehensive capacity testing method, device and system |
| CN111409788A (en) * | 2020-04-17 | 2020-07-14 | 大连海事大学 | Unmanned ship autonomous navigation capability testing method and system |
| CN111813086B (en) * | 2020-07-15 | 2023-08-25 | 北京航空航天大学云南创新研究院 | Model-based unmanned system autonomy assessment method |
| CN111813086A (en) * | 2020-07-15 | 2020-10-23 | 北京航空航天大学云南创新研究院 | Model-based unmanned system autonomy evaluation method |
| CN111846139A (en) * | 2020-07-29 | 2020-10-30 | 浙江北鲲智能科技有限公司 | Comprehensive quantitative assessment method for intelligent navigation performance of unmanned surface vehicle |
| CN111813128B (en) * | 2020-07-29 | 2023-01-13 | 浙江北鲲智能科技有限公司 | Unmanned ship autonomous navigation performance evaluation method |
| CN111813128A (en) * | 2020-07-29 | 2020-10-23 | 浙江北鲲智能科技有限公司 | Unmanned ship autonomous navigation performance evaluation method |
| CN112100917A (en) * | 2020-09-14 | 2020-12-18 | 中国船级社 | Intelligent ship collision avoidance simulation test system and method based on expert confrontation system |
| CN112100917B (en) * | 2020-09-14 | 2023-12-22 | 中国船级社 | Expert countermeasure system-based intelligent ship collision avoidance simulation test system and method |
| CN113625720A (en) * | 2021-08-19 | 2021-11-09 | 中国舰船研究设计中心 | Unmanned ship autonomous navigation control algorithm simulation evaluation system |
| CN113625720B (en) * | 2021-08-19 | 2024-05-10 | 中国舰船研究设计中心 | Unmanned ship autonomous navigation control algorithm simulation evaluation system |
| CN113776535A (en) * | 2021-08-31 | 2021-12-10 | 中国舰船研究设计中心 | Unmanned ship route planning method based on rasterized electronic chart |
| CN113625725A (en) * | 2021-09-02 | 2021-11-09 | 中国舰船研究设计中心 | Unmanned surface vehicle path tracking control method |
| CN113625725B (en) * | 2021-09-02 | 2024-05-07 | 中国舰船研究设计中心 | Path tracking control method for unmanned surface vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106444776B (en) | 2019-04-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106444776A (en) | Method for evaluating autonomous performance of unmanned boats | |
| Aarsæther et al. | Estimating navigation patterns from AIS | |
| CN104091470B (en) | A kind of navigation channel traffic information predicting method and application based on multi-data fusion | |
| US10569847B2 (en) | Maritime navigation assistance server system and maritime navigation assistance method | |
| Biló et al. | Methods for estimating the velocities of the Brazil Current in the pre-salt reservoir area off southeast Brazil (23∘ S–26∘ S) | |
| CN108645420A (en) | A kind of creation method of the automatic driving vehicle multipath map based on differential navigation | |
| CN104794267A (en) | Water depth information display and applying method based on ECDIS | |
| CN104977005B (en) | Marine mobile platform is accurately stood a navigation system | |
| Kamis et al. | Assessing the efficacy of the advance transfer technique in calculating the wheel over point through simulation studies | |
| Winter et al. | Modular neural networks for map-matched GPS positioning | |
| CN106323317A (en) | Navigation method and device | |
| Surinov et al. | Cybersecurity of the Processes of Manoeuvring in Confined Waters | |
| Yun et al. | Global Path Planning for Autonomous Ship Navigation Considering the Practical Characteristics of the Port of Ulsan | |
| CN109946718B (en) | Pseudo satellite spatial layout method for railway station yard | |
| Fung et al. | Navigational safety of inland waterway transport system (IWTS) in Sarawak: Rajang River | |
| Dietsch et al. | Hydrographic Survey of Chaktomuk, the Confluence of the Mekong, Tonlé Sap, and Bassac Rivers near Phnom Penh, Cambodia, 2012 | |
| Li et al. | Improving ship maneuverability standards as a means for increasing ship controllability and safety | |
| Quy et al. | Development ofElectronic Navigation Chart for ship navigation in HICT port, Hai Phong | |
| Liu | Research and design of intelligent planning system for ship route based on electronic chart display and information system | |
| Hänninen et al. | The effects of an enhanced navigation support information service on maritime traffic risks in the Gulf of Finland | |
| Nguyen et al. | A comparison of ES and PARK maritime traffic risk assessment models in a Korean waterway | |
| Ariansen | Accident Frequency Analysis for the Stad Ship Tunnel | |
| KR20150092869A (en) | A Navigation Apparatus with Setting Safe Path of A Leisure Boat | |
| Kumar | When ellipsoidal heights will do the job, why look elsewhere! | |
| Karström Hettman | Modeling for survey priority and extended CATZOC classifications of Swedish territorial waters in the Baltic Sea |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20170222 Assignee: WUHAN HAIYI SCIENCE & TECHNOLOGY Co.,Ltd. Assignor: China Ship Research and Design Center Contract record no.: X2021420000004 Denomination of invention: An autonomous performance evaluation method for unmanned aerial vehicle Granted publication date: 20190430 License type: Common License Record date: 20210121 |
|
| EE01 | Entry into force of recordation of patent licensing contract |